README

as2_python_api

AeroStack2 python interface.

Index

API

Method

Input

Output

Description

str = get_drone_id()

-

drone namespace

-

{ bool, bool, bool, STATE, YAW_MODE, CONTROL_MODE, REFERENCE_FRAME } = get_info()

-

drone info {connected, armed, offboard, state, yaw_mode, control_mode, reference_frame}

-

[ float, float, float ] = get_position()

-

[ x, y, z ]

-

[ float, float, float ] = get orientation()

-

[ roll, pitch, yaw ]

-

[ float, float, float ] = get_gps_pose()

-

[ lat, lon ,alt ]

takeoff(float, float)

heigth, speed

-

-

follow_path([ [ float, float, float ], ... ], float)

[ [ x, y, z ], … ], speed

-

-

follow_gps_path([ [ float, float, float ], ... ], float)

[ [ lat, lon, alt ], … ], speed

-

-

land()

-

-

-

ENUMERATIONS

STATE

Value

Field Name

Description

EMERGENCY

-1

-

DISARMED

0

-

LANDED

1

-

TAKING_OFF

2

-

FLYING

3

-

LANDING

4

-

YAW_MODE

Value

Field Name

Description

YAW_ANGLE

0

-

YAW_SPEED

1

-

CONTROL_MODE

Value

Field Name

Description

UNSET

-1

mode when the vehicle is not set

POSITION_MODE

0

x, y, z refs

SPEED_MODE

1

vx, vy, vz refs

SPEED_IN_A_PLANE

2

vx, vy, z refs

ACCEL_MODE

3

ax, ay, az refs

ATTITUDE_MODE

4

quaternions + Thrust

ACRO_MODE

5

p, q, r speed + Thrust

REFERENCE_FRAME

Value

Field Name

Description

LOCAL_ENU_FRAME

0

Local coordinates

BODY_FLU_FRAME

1

Body coordinates

GLOBAL_ENU_FRAME

2

GPS coordinates